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honda wobble

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firestar5683
2026-05-01 14:34:17 -05:00
parent 617aa0a5db
commit f69599fabb
2 changed files with 13 additions and 12 deletions
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opendbc_repo/opendbc/car/honda/carcontroller.py
+10 -9
View File
@@ -49,20 +49,21 @@ def get_civic_bosch_modified_steering_pressed(raw_pressed: bool, steering_torque
torque_cmd_abs = abs(torque_cmd)
if raw_pressed:
if was_pressed:
trigger_s = 0.08
if torque_product < 0.0:
trigger_s = 0.08 if was_pressed else 0.10
rise_rate = 1.0
elif torque_cmd_abs < 0.10:
trigger_s = 0.18
elif torque_product < 0.0:
trigger_s = 0.10
trigger_s = 0.20 if was_pressed else 0.24
rise_rate = 0.75
else:
trigger_s = 0.60
trigger_s = 0.70 if was_pressed else 0.80
rise_rate = 0.50
filter_s = min(1.0, filter_s + DT_CTRL)
filter_s = min(1.0, filter_s + (rise_rate * DT_CTRL))
steering_pressed = filter_s >= trigger_s
else:
filter_s = max(0.0, filter_s - 6.0 * DT_CTRL)
steering_pressed = filter_s > 0.06 and was_pressed
filter_s = max(0.0, filter_s - 8.0 * DT_CTRL)
steering_pressed = filter_s > 0.04 and was_pressed
return filter_s, steering_pressed
opendbc_repo/opendbc/car/honda/tests/test_honda.py
+3 -3
View File
@@ -49,16 +49,16 @@ class TestHondaFingerprint:
assert not pressed
assert filter_s > 0.01
filter_s = 0.58
filter_s = 0.79
filter_s, pressed = get_civic_bosch_modified_steering_pressed(True, 1500.0, 0.8, filter_s, False)
assert not pressed
filter_s = 0.59
filter_s = 0.80
filter_s, pressed = get_civic_bosch_modified_steering_pressed(True, 1500.0, 0.8, filter_s, False)
assert pressed
def test_modified_civic_steering_pressed_filter_allows_opposing_driver_torque_quickly(self):
filter_s, pressed = get_civic_bosch_modified_steering_pressed(True, -1500.0, 0.8, 0.11, False)
filter_s, pressed = get_civic_bosch_modified_steering_pressed(True, -1500.0, 0.8, 0.07, False)
assert pressed
def test_official_modified_eps_firmwares_restored(self):